mirror of
https://github.com/YikeStone/ros_arduino_bridge.git
synced 2025-08-03 19:24:09 +05:30
70 lines
2.0 KiB
YAML
70 lines
2.0 KiB
YAML
# For a direct USB cable connection, the port name is typically
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# /dev/ttyACM# where is # is a number such as 0, 1, 2, etc
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# For a wireless connection like XBee, the port is typically
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# /dev/ttyUSB# where # is a number such as 0, 1, 2, etc.
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port: /dev/ttyACM0
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baud: 57600
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timeout: 0.1
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rate: 50
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sensorstate_rate: 10
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# Are we using the base controller code
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use_base_controller: False
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# Rate to publish odom info
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base_controller_rate: 10
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# For a robot that uses base_footprint, change base_frame to base_footprint
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base_frame: base_link
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# Are we also using an IMU for heading data
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use_imu_heading: False
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# Publish the odom->base_link transform?
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publish_odom_base_transform: True
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# === Robot drivetrain parameters
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#wheel_diameter: 0.146
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#wheel_track: 0.2969
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#encoder_resolution: 8384 # from Pololu for 131:1 motors
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#gear_reduction: 1.0
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#motors_reversed: True
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# === PID parameters
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#Kp: 10
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#Kd: 12
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#Ki: 0
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#Ko: 50
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#accel_limit: 1.0
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# == Odometry calibration correction factors
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odom_linear_scale_correction: 1.0
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odom_angular_scale_correction: 1.0
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# === Sensor definitions. Examples only - edit for your robot.
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# Sensor type can be one of the following:
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# * Ping
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# * GP2D12
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# * Analog
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# * Digital
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# * PololuMotorCurrent
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# * PhidgetsVoltage
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# * PhidgetsCurrent (20 Amp, DC)
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sensors: {
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#motor_current_left: {pin: 0, type: PololuMotorCurrent, rate: 5},
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#motor_current_right: {pin: 1, type: PololuMotorCurrent, rate: 5},
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#ir_front_center: {pin: 2, type: GP2D12, rate: 10},
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#sonar_front_center: {pin: 5, type: Ping, rate: 10},
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onboard_led: {pin: 13, type: Digital, rate: 5, direction: output}
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}
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# Joint name and configuration is an example only
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joints: {
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head_pan_joint: {pin: 3, init_position: 0, init_speed: 90, neutral: 90, min_position: -90, max_position: 90, invert: False, continuous: False},
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head_tilt_joint: {pin: 5, init_position: 0, init_speed: 90, neutral: 90, min_position: -90, max_position: 90, invert: False, continuous: False}
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}
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